Varun Belagali commited on
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add dataset

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  1. .gitattributes +1 -0
  2. README.md +41 -0
  3. duck_collect.hdf5 +3 -0
  4. duck_lift.hdf5 +3 -0
.gitattributes CHANGED
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  *.7z filter=lfs diff=lfs merge=lfs -text
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  *.arrow filter=lfs diff=lfs merge=lfs -text
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  *.bin filter=lfs diff=lfs merge=lfs -text
 
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+ *.hdf5 filter=lfs diff=lfs merge=lfs -text
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  *.7z filter=lfs diff=lfs merge=lfs -text
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  *.arrow filter=lfs diff=lfs merge=lfs -text
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README.md CHANGED
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  ---
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  license: mit
 
 
 
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  ---
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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  ---
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  license: mit
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+ arxiv: 2307.01849
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+ task_categories:
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+ - robotics
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  ---
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+ # Crossway Ducks
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+
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+ This is the dataset repo for real world experiments presented in [ICRA'24](https://2024.ieee-icra.org/) paper [Crossway Diffusion: Improving Diffusion-based Visuomotor Policy via Self-supervised Learning](https://arxiv.org/abs/2307.01849).
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+
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+ These datasets are collected in the same format as [robomimic](https://robomimic.github.io/docs/datasets/overview.html).
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+ To train on this dataset (and your own datasets), please modify your config file as follows:
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+ 1. Change `dataset_path` to the path of `hdf5` file.
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+ 2. Use the following `shape_meta`.
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+
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+ ```
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+ shape_meta:
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+ action:
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+ shape:
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+ - 4
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+ obs:
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+ pos:
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+ shape:
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+ - 4
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+ type: low_dim
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+ camera0:
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+ shape:
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+ - 3
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+ - 120
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+ - 160
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+ type: rgb
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+ camera1:
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+ shape:
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+ - 3
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+ - 120
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+ - 160
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+ type: rgb
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+ ```
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+
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+ For the training and evaluation code, please visit our [github repo](https://github.com/LostXine/crossway_diffusion).
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+
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+ Watch [🎬 video presentation](https://youtu.be/9deKHueZBuk)!
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+
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+ For questions, please raise a [github issue](https://github.com/LostXine/crossway_diffusion/issues).
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